Patent Number: 6,166,504

Title: Control apparatus for robot having an arm moving within allowable working area

Abstract: A robot that stops an arm within a limitation position of a predetermined working area when the arm is going to exceed the predetermined working area. ACPU of controller calculates a position and a speed of an arm at a next sampling time when a present sampling time comes. The CPU calculates an operation a mount which is a distance to be moved till the arm stops when the arm would be decelerated with a predetermined deceleration, and a position of the arm when the arm would operate by the operation amount after the position at the next sampling time. When a stop position as a result of the deceleration exceeds a predetermined limitation position, the CPU stops the arm with the predetermined deceleration. In this way, the CPU obtains the operation speed of the arm each time, and change a position to start to deceleration based on the operation speed, the arm can be stopped around the limitation position of the working area without fail.

Inventors: Iida; Shinji (Nagoya, JP), Kamiya; Koji (Anjo, JP)

Assignee: Denso Corporation

International Classification: B25J 9/16 (20060101); G05B 011/01 ()

Expiration Date: 12/26/2017